Circular Accessible Depth: A Robust Traversability Representation for UGV Navigation

In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenarios containing irregular obstacles. To predict CAD, we propose a neural network, namely CADNet, with an attention-based multi-frame point cloud fusion module, Stability-Attention Module (SAM), to encode the spatial features from point clouds captured by LiDAR. CAD is designed based on the polar coordinate system and focuses on predicting the border of traversable area. Since it encodes the spatial information of the surrounding environment, which enables a semi-supervised learning for the CADNet, and thus desirably avoids annotating a large amount of data. Extensive experiments demonstrate that CAD outperforms baselines in terms of robustness and precision. We also implement our method on a real UGV and show that it performs well in real-world scenarios.Comment: 13 pages, 8 figure

Characterization of the Differential Aroma Compounds among 10 Different Kinds of Premium Soy Sauce

Investigation of the aroma differences among different kinds of soy sauces is beneficial for controlling their flavor quality and processing improvement from the perspectives of raw materials and brewing techniques. The aroma compounds in ten premium soy sauces (CB, HT1, HT2, LH, LJJ1, LJJ2, QH, XH1, XH2, WZ) were qualitative and quantitative analyzed by solid phase extraction and solid-phase microextraction combined with gas chromatography-mass spectrometry (GC-MS). The contributions of aroma compounds to the aroma characteristics of premium soy sauce was determined by sensory evaluation, calculation of aroma activity value (OAV) and partial least squares regression analysis (PLSR). A total of 86 volatile compounds were identified in 10 premium soy sauces, 44 of them were both detected in 10 soy sauce. The 30 aroma compounds with OAV≥1 were detected, the 5-ethyl-4-hydroxy-2-methyl-3(2H)-furanone showed the highest OAV (373~4698), followed by 4-methoxy-2,5-dimethyl-3(2H)-furanone (0~1473). WZ soy sauce had a strong smoky aroma due to the highest variety of phenolic and ketone compounds. The overall aroma profile of CB soy sauce was the weakest with the lowest concentration of ethanol (25.775 μg/L), but the highest content of pyrazine compounds (182.796 μg/L), of which 2,6-dimethylpyrazine was 66.256 μg/L. XH1 soy sauce had a strong sauce aroma and alcoholic notes, due to the highest ethanol content (147.257 μg/L) and higher phenolic content, for example the concentration of 4-ethyl-2-methoxyphenol (18240.479 μg/L) was the highest. XH2 soy sauce had a strong malty aroma. The content of 2-methyl-1-propanol (51.223 μg/L) and 2,3-butanediol (57921.798 μg/L) in LH soy sauce was the highest among others. The content of 1-octen-3-ol (61.219 μg/L) in HT1 soy sauce was the highest. Combination of OAV and PLSR analysis confirmed the ethyl acetate, 3-hydroxy-2-butanone, 2,3-butanediol, 3-ethyl-2,5-dimethylpyrazine, 4-methoxy-2,5-dimethyl-3(2H)-furanone, 4-ethylguaiacol and 4-ethylphenol were the key aroma-active components that contribute to the aroma differences among 10 kinds of premium soy sauce

Association of sleep traits with male fertility: a two-sample Mendelian randomization study

Background: Previous observational studies have investigated the association between sleep-related traits and male fertility; however, conclusive evidence of a causal connection is lacking. This study aimed to explore the causal relationship between sleep and male fertility using Mendelian randomisation.Methods: Eight sleep-related traits (chronotype, sleep duration, insomnia, snoring, dozing, daytime nap, oversleeping, and undersleeping) and three descriptors representing male fertility (male infertility, abnormal sperm, and bioavailable testosterone levels) were selected from published Genome-Wide Association Studies. The causal relationship between sleep-related traits and male fertility was evaluated using multiple methods, including inverse variance weighting (IVW), weighted median, Mendelian randomisation-Egger, weighted model, and simple model through two-sample Mendelian randomisation analysis. Mendelian randomisation-Egger regression was used to assess pleiotropy, Cochrane’s Q test was employed to detect heterogeneity, and a leave-one-out sensitivity analysis was conducted.Results: Genetically-predicted chronotype (IVW,OR = 1.07; 95%CL = 1.04–1.12; p = 0.0002) was suggestively associated with bioavailable testosterone levels. However, using the IVW method, we found no evidence of a causal association between other sleep traits and male fertility.Conclusion: This study found that chronotype affects testosterone secretion levels. However, further studies are needed to explain this mechanism

Upregulation of the APOBEC3 Family Is Associated with a Poor Prognosis and Influences Treatment Response to Raf Inhibitors in Low Grade Glioma

Apolipoprotein B mRNA-editing enzyme catalytic polypeptide-like 3 (APOBEC3) has been identified as a group of enzymes that catalyze cytosine deamination in single-stranded (ss) DNA to form uracil, causing somatic mutations in some cancers. We analyzed the APOBEC3 family in 33 TCGA cancer types and the results indicated that APOBEC3s are upregulated in multiple cancers and strongly correlate with prognosis, particularly in low grade glioma (LGG). Then we constructed a prognostic model based on family expression in LGG where the APOBEC3 family signature is an accurate predictive model (AUC of 0.85). Gene mutation, copy number variation (CNV), and a differential gene expression (DEG) analysis were performed in different risk groups, and the weighted gene co-expression network analysis (WGCNA) was employed to clarify the role of various members in LGG; CIBERSORT algorithm was deployed to evaluate the landscape of LGG immune infiltration. We found that upregulation of the APOBEC3 family expression can strengthen Ras/MAPK signaling pathway, promote tumor progression, and ultimately reduce the treatment benefits of Raf inhibitors. Moreover, the APOBEC3 family was shown to enhance the immune response mediated by myeloid cells and interferon gamma, as well as PD-L1 and PD-L2 expression, implying that they have immunotherapy potential. Therefore, the APOBEC3 signature enables an efficient assessment of LGG patient survival outcomes and expansion of clinical benefits by selecting appropriate individualized treatment strategies

Metal-organic framework template-guided electrochemical lithography on substrates for SERS sensing applications

Abstract The templating method holds great promise for fabricating surface nanopatterns. To enhance the manufacturing capabilities of complex surface nanopatterns, it is important to explore new modes of the templates beyond their conventional masking and molding modes. Here, we employed the metal-organic framework (MOF) microparticles assembled monolayer films as templates for metal electrodeposition and revealed a previously unidentified guiding growth mode enabling the precise growth of metallic films exclusively underneath the MOF microparticles. The guiding growth mode was induced by the fast ion transportation within the nanochannels of the MOF templates. The MOF template could be repeatedly used, allowing for the creation of identical metallic surface nanopatterns for multiple times on different substrates. The MOF template-guided electrochemical growth mode provided a robust route towards cost-effective fabrication of complex metallic surface nanopatterns with promising applications in metamaterials, plasmonics, and surface-enhanced Raman spectroscopy (SERS) sensing fields

Comparison of prostate volume measured by transabdominal ultrasound and MRI with the radical prostatectomy specimen volume: a retrospective observational study

Abstract Background Few studies have compared the use of transabdominal ultrasound (TAUS) and magnetic resonance imaging (MRI) to measure prostate volume (PV). In this study, we evaluate the accuracy and reliability of PV measured by TAUS and MRI. Methods A total of 106 patients who underwent TAUS and MRI prior to radical prostatectomy were retrospectively analyzed. The TAUS-based and MRI-based PV were calculated using the ellipsoid formula. The specimen volume measured by the water-displacement method was used as a reference standard. Correlation analysis and intraclass correlation coefficients (ICC) were performed to compare different measurement methods and Bland Altman plots were drawn to assess the agreement. Results There was a high degree of correlation and agreement between the specimen volume and PV measured with TAUS (r = 0.838, p < 0.01; ICC = 0.83) and MRI (r = 0.914, p < 0.01; ICC = 0.90). TAUS overestimated specimen volume by 2.4ml, but the difference was independent of specimen volume (p = 0.19). MRI underestimated specimen volume by 1.7ml, the direction and magnitude of the difference varied with specimen volume (p < 0.01). The percentage error of PV measured by TAUS and MRI was within ± 20% in 65/106(61%) and 87/106(82%), respectively. In patients with PV greater than 50 ml, MRI volume still correlated strongly with specimen volume (r = 0.837, p < 0.01), while TAUS volume showed only moderate correlation with specimen (r = 0.665, p < 0.01) or MRI volume (r = 0.678, p < 0.01). Conclusions This study demonstrated that PV measured by MRI and TAUS is highly correlated and reliable with the specimen volume. MRI might be a more appropriate choice for measuring the large prostate

Autonomous battery-changing system for UAV’s lifelong flight

Unmanned aerial vehicles (UAVs) lifelong flight is essential to accomplish various tasks, e.g., aerial patrol, aerial rescue, etc. However, traditional UAVs have limited power to sustain their flight and need skilled operators manually control their charging process. Manufacturers and users are eagerly seeking a reliable autonomous battery-changing solution. To address this need, we propose and design an autonomous battery-changing system for UAVs using the theory of inventive problem solving (TRIZ) and user-centered design (UCD) methods. For practical application, we employ UCD to thoroughly analyze user requirements, identify multiple pairs of technical contradictions, and solve these inconsistencies using TRIZ theory. Furthermore, we design an autonomous battery-changing hardware system that meets user requirements and realizes the battery change process after the automatic landing of UAVs. Finally, we conduct experiments to validate our system’s effectiveness. The experimental results show that our battery-changing system can implement the autonomous battery-changing task, and our system has high efficiency and robustness in the real environment